This paper discusses the design and steering control for an autonomous modular mobile robot. The module is designed with a\ncenter-articulated steering joint to minimize the number of actuators used in the chain.We propose a feedback control law which\nallows steering between configurations in the plane and show its application as a parking control to dock modules together. The\ncontrol law is designed by Lyapunov techniques and relies on the equations of the robot in polar coordinates. A set of experiments\nhave been carried out to show the performance of the proposed approach. The design is intended to endow individual wheeled\nmodules with the capability to merge and make a single snake-like robot to take advantage of the benefits of modular robotics.
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